double_integrator_dynamics_solver.h

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//
// Copyright (c) 2019, Wolfgang Merkt
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#ifndef EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_
#define EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_
 
#include <exotica_core/dynamics_solver.h>
#include <exotica_core/scene.h>
 
#include <exotica_double_integrator_dynamics_solver/double_integrator_dynamics_solver_initializer.h>
 
namespace exotica
{
class DoubleIntegratorDynamicsSolver : public DynamicsSolver, public Instantiable<DoubleIntegratorDynamicsSolverInitializer>
{
public:
    void AssignScene(ScenePtr scene_in) override;
 
    StateVector f(const StateVector& x, const ControlVector& u) override;
    void ComputeDerivatives(const StateVector& x, const ControlVector& u) override;
    StateDerivative fx(const StateVector& x, const ControlVector& u) override;
    ControlDerivative fu(const StateVector& x, const ControlVector& u) override;
 
private:
    Eigen::MatrixXd A_;
    Eigen::MatrixXd B_;
    Integrator last_integrator_;
};
}  // namespace exotica
 
#endif  // EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_